Related papers: Controlling Robot Morphology from Incomplete Measu…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Multiple domains like vision, natural language, and audio are witnessing tremendous progress by leveraging Transformers for large scale pre-training followed by task specific fine tuning. In contrast, in robotics we primarily train a single…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
In the context of embodied artificial intelligence, morphological computation refers to processes which are conducted by the body (and environment) that otherwise would have to be performed by the brain. Exploiting environmental and…
Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion…
Understanding the global dynamics of a robot controller, such as identifying attractors and their regions of attraction (RoA), is important for safe deployment and synthesizing more effective hybrid controllers. This paper proposes a…
Natural environments pose significant challenges for autonomous robot navigation, particularly due to their unstructured and ever-changing nature. Hiking trails, with their dynamic conditions influenced by weather, vegetation, and human…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
As more robots act in physical proximity to people, it is essential to ensure they make decisions and execute actions that align with human values. To do so, robots need to understand the true intentions behind human-issued commands. In…
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…